US7076340B1 - Method of controlling speed of synchronous motor, and method of identifying constant of synchronous motor - Google Patents
Method of controlling speed of synchronous motor, and method of identifying constant of synchronous motor Download PDFInfo
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- US7076340B1 US7076340B1 US09/979,798 US97979801A US7076340B1 US 7076340 B1 US7076340 B1 US 7076340B1 US 97979801 A US97979801 A US 97979801A US 7076340 B1 US7076340 B1 US 7076340B1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/04—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for very low speeds
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Definitions
- the present invention relates to a method of controlling the speed of a synchronous motor, and more specifically, to a method of controlling the speed of a permanent-magnet-type synchronous motor without use of sensors, as well as to a method of identifying a constant of a controller for driving a synchronous motor.
- sensorless vector control of a synchronous motor employs, as inputs, a difference between a stator current converted into a ⁇ - ⁇ coordinate system set on poles of a rotor and a current estimated most recently and a voltage instruction converted into the ⁇ - ⁇ coordinate system, thereby estimating an electric current and induced voltage of the ⁇ - ⁇ coordinate system and the speed of the rotor.
- Vector control of the motor is performed through use of the angular speed and information about the position of the magnetic axis, which are estimated by the above method.
- the background art technology encounters a problem. Namely, as a synchronous motor rotates at low speed, a voltage induced by the synchronous motor decreases, thereby deteriorating the accuracy of estimation of the magnetic axis. If vector control of the synchronous motor is performed within a low-speed range, the magnetic axis is lost. Accordingly, the synchronous motor can no longer be controlled.
- a first object of the present invention is to provide a method of controlling the speed of a synchronous motor, which method enables realization of a favorable shift toward vector control by means of aligning a control axis with a magnetic axis in the event of great torque being exerted on the synchronous motor within a low-speed range.
- a converter for vector control purpose can accurately control the magnitude, frequency, and phase of an output current
- a method comprising the steps of supplying a predetermined current to a motor, measuring a current constant of the induced motor with high accuracy on the basis of a motor voltage induced by the current, and setting, on the basis of a result of measurement, a control-operation constant of an induced motor control system (Japanese Patent Application Laid-Open No. 183953/1985).
- a second object of the present invention is to provide a method of identifying an induced voltage constant and a d-axis inductance of a motor with high accuracy and at high speed.
- the present invention provides a sensorless control method for use with a synchronous motor which uses a permanent magnet as a rotor, in which the motor is controlled such that a d-q axis set on a magnetic pole of the rotor is aligned with a ⁇ - ⁇ axis assumed to be set on the rotor, the method comprising the steps of:
- the present invention also provides a sensorless speed control method for a synchronous motor, comprising the steps of:
- a “d” axis serving as a real magnetic axis is out of phase with a ⁇ axis by only an angle of load ⁇ e when a d.c. current i ⁇ flows, in a positive direction, to a ⁇ axis serving as an arbitrarily-specified axis, torque proportional to i ⁇ sin ⁇ e develops in the “d” axis serving as a magnetic axis so as to head toward the ⁇ axis in a case where no load is exerted on the motor and the angle of load ⁇ e is small.
- the “d” axis serving as a real magnetic axis undergoes torque which is constantly headed toward a specified ⁇ axis, whereby the ⁇ axis is aligned with a ⁇ axis.
- a synchronous motor not having a damper winding When the “d” axis serving as a magnetic axis is constrained, a synchronous motor not having a damper winding usually assumes a dumping factor of substantially zero.
- the “d” axis induces simple harmonic oscillations around the ⁇ axis.
- a current instruction derived by means of feeding back an estimated speed is taken as a ⁇ -axis current.
- transient vibrations in the “d” axis are dampened.
- a synchronous motor induced voltage is taken as ⁇
- ⁇ sin ⁇ e is estimated from an estimated disturbance ⁇ est derived by a ⁇ -axis current formula.
- ⁇ est assumes a value proportional to the angle of load.
- the magnetic axis “d” can be constrained by i ⁇ *.
- a correction current instruction i ⁇ * produced by proportional integration of the estimated disturbance ⁇ est is added to the ⁇ -axis current instruction.
- a constraint current is caused to flow to the ⁇ axis as a correction current.
- a correction current is caused to flow until ⁇ est assumes a value of 0: that is, the ⁇ axis is aligned with the “d” axis. Consequently, an excessive increase in the angle of load is prevented, thereby enabling the ⁇ axis to be aligned with the “d” axis.
- the present invention provides a method of identifying a constant of a controller of a synchronous motor which computes the speed of the motor from two-phase current supplied to the motor, the controller including
- the method is embodied as software, and the software is installed in an inverter, thereby embodying means for accurately identifying a constant at high speed.
- the present invention also provides a method of identifying a constant of a controller of a synchronous motor which computes the speed of the motor from two-phase current supplied to the motor, the controller including
- the method for identifying d-axis inductance of the synchronous motor is embodied as software, and the software is installed in an inverter, thereby embodying means for accurately identifying a constant at high speed.
- FIG. 1 is a block diagram showing a control system to which a method of controlling the speed of a synchronous motor according to a first embodiment of the present invention.
- FIG. 1 is a block diagram showing a control system to which is applied a method of controlling the speed of a synchronous motor according to a first aspect of the present invention.
- the first embodiment shown in FIG. 1 is in principle directed toward constructing a sensorless vector control system through use of the rotation speed of a synchronous motor and the position of a rotor estimated according to a method of estimating the speed of a permanent-magnet-type synchronous motor, a method of estimating an angle of error of a rotor of the motor, and a method of correcting the position of the rotor, which are described in Japanese Patent Application Laid-Open No. 191698/1997.
- the speed of the synchronous motor and the position of the rotor are estimated from information about an induced voltage. Little information about an induced voltage is available within an estimated low-speed range. Hence, it becomes difficult to correct a discrepancy between a ⁇ - ⁇ axis serving as a control axis and a d-q axis of the synchronous motor, thereby precluding realization of favorable vector control.
- 191698/1997 is improved through use of a method which enables excellent vector control by means of eliminating a deviation between the d-q axis serving as a real magnetic axis and the ⁇ - ⁇ axis serving as a control axis, such that excellent vector control can be ensured over high-speed and low-speed ranges by means of effecting vector control within a high-speed range in accordance with the previously-described example.
- an angular-speed instruction ⁇ rm * and an estimated angular-speed ⁇ rm est are input to the speed controller 1 , and the speed controller 1 outputs a ⁇ -phase current instruction i ⁇ *.
- the ⁇ -phase current controller 2 receives an estimated ⁇ -phase current i ⁇ est2 output from the current corrector and the current instruction i ⁇ * and outputs a ⁇ -phase voltage instruction V ⁇ *.
- a positive ⁇ -phase current instruction i ⁇ * and an estimated ⁇ -phase current i ⁇ est2 are input to the ⁇ -phase current controller 3 .
- the ⁇ -phase current controller 3 outputs a ⁇ -phase voltage instruction V ⁇ *.
- the ⁇ -phase current instruction V ⁇ *, the ⁇ -phase voltage instruction V ⁇ *, and the position of the ⁇ - ⁇ axis output from the ⁇ - ⁇ -axis position corrector 11 are input to the vector control circuit 4 .
- the absolute value (V ⁇ 2 +V ⁇ 2 ) 1/2 of a voltage and a phase tan ⁇ 1 (V ⁇ /V ⁇ ) from the ⁇ -axis in a direction in which a voltage is output are input to the inverter circuit 5 , and a turn-on operation is implemented.
- a ⁇ -phase current i ⁇ is produced as a result of a stator current i u of the synchronous motor 6 passing through the phase converter 7 .
- a ⁇ -phase current i ⁇ is produced as a result of a stator current i v passing through the phase converter 7 .
- the ⁇ -phase current i ⁇ , the ⁇ -phase current i ⁇ , the position of the ⁇ - ⁇ axis, and the voltage instructions V ⁇ * and V ⁇ * are input to the ⁇ - ⁇ -axis current/induced voltage estimator 8 .
- the ⁇ - ⁇ -axis current/induced voltage estimator 8 outputs estimated ⁇ - ⁇ -phase currents i ⁇ est and i ⁇ est and induced ⁇ - ⁇ -phase voltages ⁇ est and ⁇ est .
- the induced ⁇ - ⁇ -phase voltages ⁇ est and ⁇ est are input to the angular-speed deriving section 9 , where an estimated angular speed ⁇ rm est is derived.
- the estimated angular speed ⁇ rm est and the induced ⁇ - ⁇ -phase voltages ⁇ est are input to the angle-of-error ⁇ e est deriving section 10 , where an angle of error ⁇ e est between the ⁇ - ⁇ axis and the d-q axis is derived.
- the angle of error ⁇ e est is input to the ⁇ - ⁇ axis position corrector 11 , thereby correcting the position of the ⁇ - ⁇ axis.
- the current corrector 12 corrects an electric current.
- the motor-constant identifier 13 is an element newly added to the control system in the present embodiment.
- the motor-constant identifier 13 identifies constants Rs, Lq, and Ld of the synchronous motor, thereby detecting the “d” axis by means of variations in inductance.
- the motor-constant identifier 13 receives an estimated induced voltage ⁇ est as an estimated disturbance and estimates an angle of error between the d-q axis and the ⁇ - ⁇ axis from known ⁇ cos ⁇ e est .
- the motor-constant identifier 13 outputs the positive ⁇ -phase current instruction i ⁇ * for causing to flow, to the ⁇ axis, a positive current appropriate to a current to be used for constraining a magnetic axis at low
- the electric currents are converted into the ⁇ - ⁇ -axis coordinate system corrected in a previous loop, by means of the phase converter 7 , thereby deriving i ⁇ (k) and i ⁇ (k).
- the angular-speed deriving section 9 determines the sign of angular speed.
- ⁇ rm est (k+1) is derived by means of the thus-determined sign and from the sum of the square of ⁇ est (k+1) and the square of ⁇ est (k+1).
- the angle-of-error ⁇ e deriving section 10 determines ⁇ e est (k+1) from ⁇ est (k+1) and ⁇ rm est (k+1), and the ⁇ - ⁇ -axis position corrector 11 corrects the position of the ⁇ axis.
- the ⁇ -phase/ ⁇ -phase current corrector 12 modifies initial values i ⁇ est (k+1), i ⁇ est (k+1), ⁇ est (k+1), and ⁇ est (k+1) at the time of a (k+1) loop.
- the motor-constant identifier 13 outputs, to the ⁇ -axis current controller 3 , the positive ⁇ -phase current instruction i ⁇ * for flowing, to the ⁇ axis, thereby inducing occurrence of torque in a magnetic pole “d” axis, wherein the torque is proportional to i ⁇ sin ⁇ e and directed toward the ⁇ axis. Accordingly, a deviation between the magnetic axis d-q and the control axis ⁇ - ⁇ is eliminated, thereby enabling excellent vector control.
- FIG. 2 is a block diagram showing a control system to which is applied a method of controlling the speed of a synchronous motor according to a second embodiment of the present invention.
- FIG. 3 is a flowchart showing the operation of the control system shown in FIG. 2 .
- a second embodiment shown in FIG. 2 is directed toward improving control at the time of an increase in load (particularly within a low-speed range). More specifically, if the angle of load ⁇ e has become excessively wide as a result of load increasing more than in the previous embodiment, a positive current is caused to flow to the ⁇ axis, thereby dampening transient vibrations in the “d” axis and reducing an angle of load. Further, a magnetic axis is constrained, and a deviation between the magnetic axis d-q and the control axis ⁇ - ⁇ is eliminated.
- an angular-speed instruction ⁇ rm * and an estimated angular-speed ⁇ rm est are input to the speed controller 1 , and the speed controller 1 outputs a ⁇ -phase current instruction i ⁇ *.
- An estimated induced voltage ⁇ est is input to the ⁇ -axis current instruction corrector 14 (proportional integration controller) From known ⁇ sin ⁇ e est , an angle of error ⁇ e is estimated, and a ⁇ -axis corrected current instruction i ⁇ * appropriate to the angle of error is output.
- the ⁇ -phase current controller 2 receives an estimated ⁇ -phase current i ⁇ est2 output from the current corrector and the current instructions i ⁇ * and i ⁇ * and outputs a ⁇ -phase voltage instruction V ⁇ *, thereby dampening transient vibrations in the “d” axis.
- the positive current i ⁇ * is caused to flow to the ⁇ axis, thereby pulling and constraining a magnetic axis so as to prevent an excessive increase in the angle of load.
- a positive ⁇ -phase current instruction i ⁇ * and an estimated ⁇ -phase current i ⁇ est2 are input to the ⁇ -phase current controller 3 .
- the ⁇ -phase current controller 3 outputs a ⁇ -phase voltage instruction V ⁇ *.
- the ⁇ -phase current instruction V ⁇ *, the ⁇ -phase voltage instruction V ⁇ *, and the position of the ⁇ - ⁇ axis output from the ⁇ - ⁇ -axis position corrector 11 are input to the vector control circuit 4 .
- a ⁇ -phase current i ⁇ is produced as a result of a stator current i u of the synchronous motor 6 passing through the phase converter 7 .
- a ⁇ -phase current i ⁇ is produced as a result of a stator current i v passing through the phase converter 7 .
- the ⁇ -phase current i ⁇ , the ⁇ -phase current i ⁇ , the position of the ⁇ - ⁇ axis, and the voltage instructions V ⁇ * and V ⁇ * are input to the ⁇ - ⁇ -axis current/induced voltage estimator 8 .
- the ⁇ - ⁇ -axis current/induced voltage estimator 8 outputs estimated ⁇ - ⁇ -phase currents i ⁇ est and i ⁇ est and induced ⁇ - ⁇ -phase voltages ⁇ est and ⁇ est .
- the induced ⁇ - ⁇ -phase voltages ⁇ est and ⁇ est are input to the angular-speed deriving section 9 , where an estimated angular speed ⁇ rm est is derived by means of formulas (2) and (3).
- a speed instruction ⁇ rm * is input to the ⁇ - ⁇ -axis position corrector 11 , where the position of the ⁇ - ⁇ axis is corrected by means of formula (4).
- the electric currents are converted into the ⁇ - ⁇ -axis coordinate system corrected in a previous loop, thereby deriving i ⁇ (k) and i ⁇ (k) (step S 2 ).
- Voltage instructions Y ⁇ (K) and Y ⁇ (K) converted into the ⁇ - ⁇ coordinate system are input (step S 3 ).
- step S 5 From the sign of the estimated ⁇ est (k+1), the sign of angular speed is determined (step S 5 ).
- ⁇ rm est (k+1) is derived from the sum of the square of ⁇ est (k+1) and the square of ⁇ est (k+1) by means of the thus-determined sign and formulas (2) and (3) (step S 6 ).
- the position of the ⁇ axis is corrected by means of formula (4) (step S 7 ).
- Japanese Patent Application Laid-Open No. 174499/1998 describes a method.
- a rotation speed ⁇ R ⁇ of the ⁇ - ⁇ axis is determined such that control is smoothly switched from a low-speed range to a high-speed range
- the proportion of K 2 is designed so as to become sufficiently greater than that of K 1 .
- the proportion of K 1 is designed so as to become sufficiently greater than that of K 2 .
- This control method is based on the premise that no load is exerted on the motor. The method cannot be applied to a case where load imposed on the motor becomes heavier and where a deviation between the angle of the “d” axis and the angle of the ⁇ axis is wide. If the angle of load is greater in this case, positive currents i ⁇ * and i ⁇ * are caused to flow in the present embodiment, thereby pulling and constraining the “d” axis.
- good vector control can be expected over a range from a low-speed range to a high-speed range.
- FIG. 4 is a block diagram showing a control system of a synchronous motor according to a third embodiment of the present invention.
- FIG. 5 is a flowchart showing a discrete value system
- FIG. 6 is a flowchart showing a discrete value system according to another embodiment of the present invention.
- FIG. 7 is a waveform diagram showing a pattern of rise in current.
- stator currents i g and i b converted into the ⁇ - ⁇ coordinate system set on the magnetic axis of the rotor, a difference between electric currents i gest and i dest estimated most recently, and voltage instructions v g and v d are entered.
- a current defined in the ⁇ - ⁇ coordinate system, the estimated current i dest , the induced voltages e gest and e dest , and the speed ⁇ rmest of the rotor are estimated.
- At least stator currents of two phases supplied to the synchronous motor at a point in time k ⁇ Ts seconds (where k 0, 1, 2, . . . , and Ts denotes a sampling time) according to the method.
- the electric currents are converted into the ⁇ - ⁇ -axis coordinate system set on the rotor, thereby deriving a ⁇ -axis current i g (k) and a ⁇ -axis current i d (k).
- the status formula pertaining to the ⁇ - ⁇ -axis coordinate system of the synchronous motor is developed to a discrete value system.
- the ⁇ -axis current i dest (k) serving as a torque-component current becomes zero.
- FIG. 4 is a block diagram showing a synchronous motor control system to which is applied a method of identifying resistance according to an embodiment of the present invention.
- FIG. 5 is a flowchart showing a digital control operation according to the method of identifying resistance.
- an angular-speed instruction ⁇ rm * and an estimated angular-speed ⁇ rm est are input to the speed controller 1 , and the speed controller 1 outputs a ⁇ -axis current instruction i ⁇ *.
- the ⁇ -axis current controller 2 receives the ⁇ -axis current instruction i d* and the estimated ⁇ -axis current i dest and outputs a ⁇ -axis voltage instruction V d* .
- a ⁇ -axis current instruction i g* and an estimated ⁇ -axis current i gest are input to the ⁇ -axis current controller 3 .
- the ⁇ -axis current controller 3 outputs a ⁇ -axis voltage instruction V g* .
- the position of the ⁇ - ⁇ axis output from the ⁇ - ⁇ -axis position corrector 11 and voltage instructions V d* and V g* are input to the vector control circuit 4 .
- the absolute value (V d 2 +V g 2 ) 1/2 of a voltage and a phase tan ⁇ 1 (V d /V g ) from the ⁇ -axis in a voltage-output direction are input to the inverter circuit 5 , and a turn-on operation is implemented.
- a ⁇ -axis current i g is produced as a result of a stator current i u of the synchronous motor 6 passing through the phase converter 7 .
- a ⁇ -axis current i d is produced as a result of a stator current i v passing through the phase converter 7 .
- the ⁇ -phase current i g , the ⁇ -phase current i d , the position of the ⁇ - ⁇ axis, and the voltage instructions V d* and V g* are input to the ⁇ - ⁇ -axis current/induced voltage estimator 8 .
- the ⁇ - ⁇ -axis current/induced voltage estimator 8 outputs estimated ⁇ - ⁇ -axis currents i gest and i dest and induced ⁇ - ⁇ -axis voltages e gest and e dest .
- the motor-constant identifier 13 outputs, to the ⁇ -axis current controller 3 , several types of ⁇ -axis current instructions i g* .
- the motor-constant identifier 13 computes a resistance error ⁇ Rs such that variation among estimated ⁇ -axis induced voltages e gest output from the ⁇ - ⁇ -axis current/induced voltage estimator 8 at that time approximate zero. The thus-computed resistance error is reported to the ⁇ - ⁇ -axis current/induced voltage estimator 8 .
- the flowchart shown in FIG. 5 shows processing of the motor-constant identifier 13 according to the present invention.
- the estimated ⁇ -axis induced voltage e dest is determined (step 120 ), and there is computed an estimated speed ⁇ gest which is defined by means of adding a correction to the estimated induced voltage (step 130 ).
- an estimated speed ⁇ gest′ which is defined without addition of a correction to the estimated induced voltage (step 140 ).
- step 150 the amount of variation in estimated speed is computed (step 150 ), and an identification limit is determined in step 160 .
- step 170 the induced voltage constant ke is adjusted. If variation in speed has achieved a target degree of accuracy, identification of an induced voltage constant is completed. In contrast, if variation in speed has not yet achieved a target degree of accuracy, processing pertaining to step 140 to processing pertaining to step 180 are iterated until a target degree of accuracy is achieved.
- formula (7) becomes a linear equation which includes ⁇ L d as a slope and a voltage error ⁇ v d as an intercept.
- FIG. 6 is a flowchart showing a digital control operation according to a method of identifying an induced voltage constant of a motor.
- the current I g is flowed to the ⁇ axis for pulling the magnetic axis to the ⁇ axis in accordance with a pattern shown in FIG. 7 (step 200 ).
- the ⁇ -axis current i g is boosted at time T 1 , and the motor awaits for a period of time T 2 until rotation becomes stable while a current is flowing through the motor (step 210 ).
- a current is caused to flow to the ⁇ axis, and the motor awaits for a period of time T 1 and a period of time T 2 at the time of reading an estimated induced voltage, in much the same manner as mentioned previously.
- a current i g1 is caused to flow to the ⁇ axis (step 220 ), and an estimated ⁇ -axis induced voltage ed 1 is sought at that time (step 230 ).
- An current i g2 is caused to flow to the ⁇ axis (step 240 ), and an estimated ⁇ -axis induced voltage e d2 is sought at that time (step 250 ).
- an induced voltage constant is computed from the current i g1 determined in step 220 , the current i g2 determined in step 240 , and variation between the estimated ⁇ -axis induced voltage e d1est determined in step 230 when the ⁇ -axis current instruction is changed and the estimated ⁇ -axis induced voltage e d2est determined in step 250 when the ⁇ -axis current instruction is changed.
- the thus-computed induced voltage constant reflects the currently-set induced voltage constant (step 260 ).
- the present invention enables excellent speed control of a synchronous motor even at low speed by means of a sensorless vector control method, by means of causing a positive current to flow to a ⁇ axis, to thereby induce torque for constraining a magnetic axis “d.”
- a phase at which a magnetic axis is pulled by means of control within a low-speed range is caused to lead the ⁇ axis in accordance with the angle of load. Even if the angle of load becomes great, the ⁇ axis serving as a control axis is aligned with a “d” axis serving as the magnetic axis of the synchronous motor, thereby enabling excellent transition of control to vector control.
- an estimated speed ⁇ rmest′ which is not provided with a correction is computed from an axis induced voltage e dest estimated by a ⁇ - ⁇ -axis current/induced voltage estimator.
- An induced voltage constant is identified such that the speed ⁇ rmest′ becomes equal to the estimated speed ⁇ rmest to which a correction is made.
- d-axis inductance of the synchronous motor is identified.
- Such a method is constructed in the form of software, thereby enabling high-speed and accurate identification of parameters. Thereby, control of a high-performance motor can be realized.
Abstract
Description
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- detecting stator currents of at least two phases supplied to the synchronous motor at time k·Ts (where k=0, 1, 2, 3, . . . , and Ts denotes a sampling time);
- deriving a γ-axis current iγ(k) and a δ-axis current iδ(k) by means of converting the stator currents to a γ-δ coordinate system;
- constructing a status estimator by means of taking a difference between the γ-axis current iγ(k) and a γ-axis current iγest(k) estimated in a previous control loop as a correction iγ(k)−iγest(k), taking a difference between the δ-axis current iδ(k) and a δ-axis current iδest(k) estimated in a previous control loop as a correction iδ(k)−iδest(k), taking voltage instructions Vγ*(k) and Vδ*(k) converted into the γ-δ coordinate system as inputs, and taking γ-axis induced voltage εγ(k) and a δ-axis induced voltage εδ(k) resulting from rotation of the rotor of the synchronous motor as disturbances which stem from a current response when the rotor remains unrotated;
- estimating currents iγest(k+1) and iδest(k+1) and induced voltages εγest(k+1) and εδest(k+1) at time (k+1)·Ts seconds;
- determining the sign of speed of the rotor from the sign of the estimated induced voltage εγest(k+1);
- estimating the value of angular speed ωrm(k+1) of the rotor from the sum of the square of the induced voltage εγest(k+1) and the square of the induced voltage εδest(k+1) as well as from the determined sign;
- deriving a δ-axis direction current instruction by means of feedback control for multiplying a variation between a synchronous motor speed instruction ωrref and an estimated speed ωrmest(k+1) by a gain, thereby inducing generation of rotation torque for the synchronous motor; and
- taking a γ-axis current instruction as positive, thereby causing generation of torque for constraining a magnetic axis “d” to the γ axis.
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- taking a magnetic axis of the synchronous motor as a “d” axis and taking an axis leading the “d” axis by 90° as a “q” axis;
- taking a coordinate d-q axis rotating at a synchronous motor rotation speed ωrm and a specified magnetic axis of the synchronous electric motor as γ, and taking an axis leading γ by 90° as δ, thereby setting a γ-δ axis rotating at a synchronous motor rotation instruction speed ωrm*;
- taking a γ-axis direction current instruction iγ* and a δ-axis direction current instruction iδ* as positive, thereby inducing torque for constraining a magnetic axis “d” at an angle leading the γ axis;
- deriving a δ-axis direction current instruction by means of feedback control for multiplying, by a gain, a variation between the synchronous motor rotation instruction speed ωrm* and an estimated speed ωrmest derived through disturbance observation, which observation is prepared by a δ-axis current formula and is taken as a synchronous motor induced voltage disturbance;
- adding, to the δ-axis direction current instruction, a variation angle correction instruction iδθ* derived from an external observation by way of a proportional integration controller, the observation being prepared by a γ-axis current formula and being taken as a synchronous motor induced voltage disturbance; and
- aligning a γ axis rotating at instruction speed ωrm* with a real magnetic axis “d.”
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- a δ-axis speed controller for outputting a δ-axis current instruction on the basis of a signal relating to a variation between a speed instruction and the speed of the motor,
- a δ-axis current controller for computing a δ-axis voltage instruction from a δ-axis current instruction,
- a γ-axis current controller for computing a γ-axis voltage instruction from a γ-axis current instruction,
- a vector control circuit outputting the absolute value of a voltage instruction and the phase of the voltage instruction on the basis of the δ-axis voltage instruction and the γ-axis voltage instruction, and
- an inverter circuit for supplying a drive current to the synchronous motor on the basis of the absolute value of a voltage instruction and the phase of the voltage instruction, the method comprising the steps of:
- setting an α-β space coordinate system which takes a U phase of a rotor of the motor as an α axis and has a β axis leading from the α axis by an electric angle of 90° in the direction of forward rotation;
- assuming a γ-δ axis rotating at a synchronous motor rotation instruction speed ωrm* in the α-β space coordinate system while taking a real magnetic axis of the synchronous motor as a “d” axis, taking an axis leading 90° from the “d” axis as a “q” axis, a coordinate d-q axis rotating at a synchronous motor rotation speed ωrm and a specified magnetic axis of the synchronous motor as a γ axis, and taking an axis leading the γ axis by 90° as a δ axis; and
- adjusting an induced voltage constant such that an estimated speed ωrmest to which a correction is added so as to become equal to an estimated speed ωrmest′ to which no correction is added, through use of a synchronous motor induced voltage edest prepared by a δ-axis current formula, the formula taking a γ-δ-axis current and a δ-axis voltage instruction vd* as inputs and taking a voltage induced in the synchronous motor as a disturbance, thereby identifying the induced voltage constant.
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- a δ-axis speed controller for outputting a δ-axis current instruction on the basis of a signal relating to a variation between a speed instruction and the speed of the motor,
- a δ-axis current controller for computing a δ-axis voltage instruction from a δ-axis current instruction,
- a γ-axis current controller for computing a γ-axis voltage instruction from a γ-axis current instruction,
- a vector control circuit outputting the absolute value of a voltage instruction and the phase of the voltage instruction on the basis of the δ-axis voltage instruction and the γ-axis voltage instruction, and
- an inverter circuit for supplying a drive current to the synchronous motor on the basis of the absolute value of a voltage instruction and the phase of the voltage instruction, the method comprising the steps of:
- setting an α-β space coordinate system which takes a U phase of a rotor of the motor as an α axis and has a β axis leading the α axis by an electric angle of 90° in the direction of forward rotation;
- setting a γ-δ axis rotating at a synchronous motor rotation instruction speed ωrm* in the α-β space coordinate system while taking a real magnetic axis of the synchronous motor as a “d” axis, taking an axis leading 90° the “d” axis as a “q” axis, a coordinate d-q axis rotating at a synchronous motor rotation speed ωrm and a specified magnetic axis of the synchronous motor as a γ axis, and taking an axis leading the γ axis by 90° as a δ axis;
- causing several different currents ig* to flow toward the γ axis through use of an estimated δ-axis induced voltage edest and a γ-axis current instruction ig* which are prepared by a δ-axis current formula, the formula taking a δ-axis direction current id and a δ-axis voltage instruction vd* as inputs and taking a δ-axis induced voltage ed as a disturbance; and
- adjusting a d-axis inductance such that the estimated δ-axis induced voltages edest arising at that time become equal to each other, thereby identifying the d-axis inductance.
- 1 speed controller
- 2 δ-axis current controller
- 3 γ-axis current controller
- 4 vector control circuit
- 5 inverter circuit
- 6 synchronous motor
- 7 phase converter
- 8 γ-δ-axis current/induced voltage estimator
- 9 angular-speed deriving section
- 10 angle-of-error (θe) deriving section
- 11 γ-δ-axis position corrector
- 12 γ-phase/δ-phase current corrector
- 13 motor-constant identifier
- 1 speed controller
- 2 δ-axis current controller
- 3 γ-axis current controller
- 4 vector control circuit
- 5 inverter circuit
- 6 synchronous motor
- 7 phase converter
- 8 γ-δ-axis current/induced voltage estimator
- 9 angular-speed deriving section
- 11 γ-δ-axis position corrector
- 12 γ-phase/δ-phase current corrector
- 13 motor-constant identifier
- 14 shaft current instruction corrector
- 1 speed controller
- 2 δ-axis current controller
- 3 γ-axis current controller
- 4 vector control circuit
- 5 inverter circuit
- 6 synchronous motor
- 7 phase converter
- 8 γ-δ-axis current/induced voltage estimator
- 9 angular-speed deriving section
- 11 γ-δ-axis position corrector
- 12 γ-phase/δ-phase current corrector
- 13 motor-constant identifier
wherein egest=−sin θe(ω rm/Lq)Φmag,
-
- edest=cos θe(ω rm/Lq)Φmag,
- Rs: resistance of stator, Lq: inductance of “q” axis;
- Ld: inductance of d-axis
- θe: deviation in angle between γ-δ axis and d-q axis, ωrm: angular-speed of rotor,
- Φmag: magnetic flux developing in permanent magnet. Thus, the estimated currents igest(k+1) and idest(k+1) and the estimated induced voltages egest(k+1) and edest(k+1) are determined at time (k+1) seconds.
In a steady state, idest(k+1)=idest(k), and hence there is derived
Here, the motor is controlled such that i g(k)=0, we have
Hence, the estimated speed is influenced by only an induced voltage constant.
the induced voltage constant ke is tuned such that ωgest(k)+α=ωgest′(k) (α>0, the amount of α is now uncertain).
v d(k)−Ld·ω rmest(k)·i gest(k)−e dest(k)=0 (12).
However, an error ΔLd is included in the d-axis inductance Ld, so that formula (8) becomes
v d(k)−Ld·ω rmest(k)·i gest(k)−ΔLd·ω rmest(k)·i gest(k)−e dest(k)−Δe dest(k)=0 (13).
v d(k)−Δv d(k)−Ld·ω rmest(k)·i gest(k)−ΔLd·ω rmst(k)·i gest(k)−e dest(k)−Δe dest(k)=0 (14).
Δedest for canceling ΔLd·ωrmest(k)·igest and Δvd arises for satisfying formula (8), there stands
e dest(k)=v d(k)−ΔLd·ω rmest(k)·i gest(k) (15).
Claims (5)
Applications Claiming Priority (3)
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JP14999299A JP3707659B2 (en) | 1999-05-28 | 1999-05-28 | Constant identification method for synchronous motor |
JP35931999A JP3956080B2 (en) | 1999-12-17 | 1999-12-17 | Synchronous motor speed control method |
PCT/JP2000/003363 WO2000074228A1 (en) | 1999-05-28 | 2000-05-25 | Speed control method for synchronous motor and constant identifying method |
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US7076340B1 true US7076340B1 (en) | 2006-07-11 |
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US09/979,798 Expired - Fee Related US7076340B1 (en) | 1999-05-28 | 2000-05-25 | Method of controlling speed of synchronous motor, and method of identifying constant of synchronous motor |
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US (1) | US7076340B1 (en) |
WO (1) | WO2000074228A1 (en) |
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